| 1234567891011121314151617181920212223242526272829303132333435363738394041424344454647484950515253545556575859606162636465666768697071727374757677787980818283848586878889 |
- #pragma once
- #include "../common/comm.h"
- #include "../common/notifier.h"
- #include "../common/iobuffer.h"
- #include "../common/sensor_socket.h"
- using namespace std;
- class CMessageQueue;
- class CCanBusSensor
- {
- public:
- CCanBusSensor(CMessageQueue *q);
- void Notify(struct can_frame *date);
-
- void SetCanBusSensor(SensorCanBus<CCanBusSensor>* can);
- void Start();
- void Stop();
- void OnMessage(cannet_frame* frames, int32_t count = 4);
- void Emergency();
-
- /*------------------小车控制参数和函数起------------------*/
- void order(cannet_frame* frame); // 指令模式
- void toggleLamp(cannet_frame* frame); // 车灯开关
- void move_run(cannet_frame* frame); // 车辆前进
- void move_back(cannet_frame* frame); // 车辆后退
- void move_rot(cannet_frame* frame); // 车辆右转
- bool car_stop(cannet_frame* frame);
- int gearselection(cannet_frame* frame); // 1:前进档 2:空挡 3:后退档
- void runSpeed(unsigned char input, unsigned char &byte0, unsigned char &byte1); //座舱速度与小车速度线性对应
- void backSpeed(unsigned char input, unsigned char &byte0, unsigned char &byte1);
- bool order_flag ; // 指令模式
- bool lamp_flag ; // 车灯状态
- bool run_flag ; // 车辆前进后退
- bool rot_flag ; // 车辆转弯
- bool stop_flag ; // 急停状态
- int gear; //档位
- unsigned char id_init[8] = {0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00};
- unsigned char id_111[8] = {0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00};
- /*------------------小车控制参数和函数止------------------*/
- private:
- void Run();
- void CanSendProc();
- void SendStatusToMSG();
-
- private:
- CMessageQueue* _message;
- SensorCanBus<CCanBusSensor> * _canbus;
- bool _run;
- std::thread _can_thread;
- std::mutex _last_can_lock;
- struct can_frame Sendframe[7];
- bool _front_view = true;
- int16_t Direction;//方向
- int16_t Hand_Throttle;//手油门
- int16_t Foot_Throttle;//脚油门
- int16_t Brake;//刹车
- int64_t count;
- FeedData _data;
- int model;//0本地,1远程
- /*-------------------小车控制起--------------------*/
- unsigned char order_on[8] = {0x01,0x00,0x00,0x00,0x00,0x00,0x00,0x00}; //id:421 指令模式开
- unsigned char headlamp_on[8] = {0x01,0x01,0x50,0x00,0x00,0x00,0x00,0x00}; //id:121 前车灯常开
- unsigned char headlamp_off[8] = {0x01,0x00,0x00,0x00,0x00,0x00,0x00,0x00}; //id:121 前车灯常关
- unsigned char taillamp_on[8] = {0x01,0x00,0x00,0x01,0x50,0x00,0x00,0x00}; //id:121 后车灯常开
- unsigned char taillamp_off[8] = {0x01,0x00,0x00,0x00,0x00,0x00,0x00,0x00}; //id:121 后车灯常关
- unsigned char move_forward[8] = {0x00,0x96,0x00,0x00,0x00,0x00,0x00,0x00}; //id:111 以0.15m/s前进
- unsigned char move_backward[8] = {0xFF,0x6A,0x00,0x00,0x00,0x00,0x00,0x00}; //id:111 以0.15m/s后退
- unsigned char turn_left[8] = {0x00,0x00,0x00,0xc8,0x00,0x00,0x00,0x00}; //id:111 以0.2rad/s左转
- unsigned char turn_right[8] = {0x00,0x00,0xFF,0x38,0x00,0x00,0x00,0x00}; //id:111 以0.2rad/s右转
- unsigned char stop_on[8] = {0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00}; //id:111 急停
- /*-------------------小车控制止--------------------*/
-
- };
|
